Abstract: An improved robotic arm system for servicing the tubesheet located within the channel head of a nuclear steam generator is provided. The system includes a robotic arm whose shoulder and elbow joints are rotatable only in the plane parallel to the tubesheet in order to eliminate the imposition of cantileverly-induced torques on the electric motors driving these joints, as well as to minimize the possibility of mechanical interference between the arm and the walls of the channel head. Each of the motorized joint assemblies of the arm includes resolvers connected not only to the output of the drive train that moves the joint, but also to the drive shaft of the electric motor that drives the drive train, wherein the feedback signal generated by the resolver connected to the drive shaft of the electric motor is the primary signal used to modulate the amount of electric power conducted to the motor of the joint. Such a configuration advantageously results in smoother robotic arm movement.

Abstract: An inspection system and process for inspecting a plurality of conduits mounted in a manifold is disclosed herein. The system generally comprises a probe carrier for driving an eddy current or ultrasonic probe throughout the conduits to be inspected, and a delivery assembly detachably mountable within the manifold for remotely delivering and inserting the probe carrier into the open ends of the conduits. The delivery system includes an insertion and pusher mechanism for selectively inserting and pushing the probe carrier through the open ends of the tubes, a rail assembly which is removably mountable within the manifold, and a carriage slidably mounted on the rail assembly for supporting and axially positioning the insertion and pusher mechanism. Angular and axial electric drive motors are also provided for rotating and moving the insertion and pusher to a selected angle around and point along the longitudinal axis of the manifold.